CN113799166A - Industrial robot composite clamp - Google Patents
Industrial robot composite clamp Download PDFInfo
- Publication number
- CN113799166A CN113799166A CN202111182216.0A CN202111182216A CN113799166A CN 113799166 A CN113799166 A CN 113799166A CN 202111182216 A CN202111182216 A CN 202111182216A CN 113799166 A CN113799166 A CN 113799166A
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- China
- Prior art keywords
- industrial robot
- lug
- side wall
- electric telescopic
- sliding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an industrial robot composite clamp, which belongs to the technical field of clamps and comprises a chassis, wherein a stud is welded at the top of the chassis, a triangular prism is welded in the middle of the bottom of the chassis, the edge of the bottom of the chassis is connected with an electric telescopic rod through a sliding device and a first hinging device, the other end of the electric telescopic rod is rotatably connected with a curved sheet through a second hinging device, the surface of the curved sheet is provided with a sliding hole, an elastic piece is slidably arranged on the inner side wall of the sliding hole, and the curved sheet is hinged to one side of the lower part of the triangular prism through a third hinging device.
Description
Technical Field
The invention relates to the field of clamps, in particular to a composite clamp for an industrial robot.
Background
Along with the acceleration of mechanical automation production process, the required processes of factory operations such as transport, assembly, packing, welding and cutting are accomplished to the industrial robot that most uses of machining production, and industrial robot not only can improve the work efficiency of machining, and can reduce workman's incident's emergence, nevertheless in industrial robot's working process, need use anchor clamps to carry out the centre gripping to the work piece, because the work piece kind is different, need change the anchor clamps of different grade type to satisfy the user demand.
Conventional industrial robot grippers have the following disadvantages: 1. the traditional industrial robot clamp is unstable in clamping, easy to loosen and fall off and narrow in clamping range, one type of clamp can only clamp an object with one size and shape, and the clamp needs to be replaced frequently, so that the clamp is very troublesome; 2. the traditional industrial robot clamp is not internally provided with an elastic piece, so that the clamping stability is ensured, the clamping force is often large, and the object is easily damaged.
Disclosure of Invention
The invention aims to provide an industrial robot composite clamp which adopts three curved pieces for three-point clamping, is stable in clamping and can clamp objects with various shapes or sizes, and has wide application range, when an object needs to be clamped, an electric telescopic rod is firstly shortened, a sliding block at the top of the electric telescopic rod slides to the center of a chassis along the inner side wall of a slide rail, the electric telescopic rod pulls the curved pieces upwards through a first hinging device and a second hinging device, so that the three curved pieces at the bottom of the electric telescopic rod are all opened along a triangular prism through a third hinging device, the whole clamp is arranged right above the clamped object at the moment, the electric telescopic rod is controlled to extend to the longest state, the sliding block at the top of the electric telescopic rod slides to the edge of the chassis along the slide rail, the electric telescopic rod pushes the curved pieces downwards through the first hinging device and the second hinging device, so that the three curved pieces are folded, the object is clamped, the three-point clamping is stable and is not easy to fall off, an elastic piece is arranged below the curved piece of the industrial robot composite clamp, the elastic piece can elastically clamp and prevent the object from being damaged, when the object is clamped, the object pushes the wafer outwards, so that the slide rod slides outwards along the inner side wall of the slide hole of the curved piece, the spring is compressed and shortened, the spring generates resilience resetting force when shortened, the wafer is pushed towards the object, the three elastic pieces generate elastic force for clamping the object from three directions, the outer side wall of the wafer is sleeved with the rubber sleeve, the outer side wall of the rubber sleeve is provided with rubber anti-slip grains, the anti-slip effect is good, the object is further prevented from sliding, the rubber is soft and elastic, the object can rapidly rebound under normal temperature, the object is further prevented from being damaged by clamping, and the elastic piece can clamp the object within a certain range by the extension amount of the electric telescopic rod, is convenient to use and solves the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an industrial robot composite jig, includes the chassis, the welding of chassis top has the double-screw bolt, the welding has the triangular prism in the middle of the chassis bottom, chassis bottom edge is connected with electric telescopic handle through slider and first articulated mounting, the electric telescopic handle other end rotates through second articulated mounting and is connected with bent piece, the slide opening has been seted up on bent piece surface, slide opening inside wall slidable mounting has the elastic component, triangular prism lower part one side articulates through third articulated mounting has bent piece.
As a further scheme of the invention: the sliding device comprises a sliding rail, a sliding block and a connecting rod, the sliding block is connected to the inner side wall of the sliding rail in a sliding mode, and the connecting rod is welded to the bottom of the sliding block.
As a still further scheme of the invention: the first hinge device comprises a first double lug, a first hinge bolt and a first single lug, the inner side wall of the first double lug is rotatably connected with the first single lug through the first hinge bolt, and the first double lug is welded at the bottom of the connecting rod.
As a still further scheme of the invention: the second hinge device comprises a second double lug, a second hinge bolt and a second single lug, the inner side wall of the second double lug is rotatably connected with the second single lug through the second hinge bolt, the second double lug is welded on the outer side wall of the bent piece, and the second single lug is welded at the other end of the electric telescopic rod.
As a still further scheme of the invention: the third hinge device comprises a third double lug, a third hinge bolt and a third single lug, and the inner side wall of the third double lug is rotatably connected with the third single lug through the third hinge bolt.
As a still further scheme of the invention: the elastic piece comprises a sliding rod, a wafer, a rubber sleeve, a spring and a nut, wherein the wafer is welded at one end of the sliding rod, and the spring is sleeved on the outer side wall of the sliding rod.
As a still further scheme of the invention: the outer side wall of the wafer is sleeved with a rubber sleeve, and the surface of the rubber sleeve is provided with rubber anti-skid lines.
As a still further scheme of the invention: the other end of the sliding rod is provided with an external thread and is connected with a nut through the external thread.
Compared with the prior art, the invention has the beneficial effects that:
1. the industrial robot composite clamp adopts three-point clamping of three curved pieces, the clamping is stable, objects with various shapes or sizes can be clamped, the application range is wide, when the objects need to be clamped, the electric telescopic rod is firstly shortened, the sliding block at the top of the electric telescopic rod slides to the center of the chassis along the inner side wall of the sliding rail, the electric telescopic rod upwards pulls the curved pieces through the first hinging device and the second hinging device, so that the three curved pieces at the bottom of the electric telescopic rod are all opened along the triangular prism through the third hinging device, at the moment, the whole clamp is arranged right above the clamped objects, the electric telescopic rod is controlled to be in the longest state, the sliding block at the top of the electric telescopic rod slides to the edge of the chassis along the sliding rail, the electric telescopic rod downwards pushes the curved pieces through the first hinging device and the second hinging device, so that the three curved pieces are folded to clamp the objects, and the three-point clamping is stable, difficult dropping, the unstable easy not hard up of solving traditional industrial robot anchor clamps centre gripping, drop and the narrower problem of centre gripping scope.
2. The elastic piece is arranged below the curved piece of the industrial robot composite clamp, can elastically clamp and prevent an object from being damaged, when the object is clamped, the object pushes the wafer outwards to enable the sliding rod to slide outwards along the inner side wall of the sliding hole of the curved piece, the spring is compressed and shortened, the spring generates resilience resetting force when being shortened to push the wafer towards the object, the three elastic pieces generate elastic force for clamping the object from three directions, because the outer side wall of the wafer is sleeved with the rubber sleeve, the outer side wall of the rubber sleeve is provided with the rubber anti-slip lines, the anti-slip effect is good, the object is further prevented from slipping, and meanwhile, the rubber is soft and elastic, the pressurized ability is kick-backed rapidly under normal atmospheric temperature, prevents further that the article from being pressed from both sides badly, and the existence of elastic component makes electric telescopic handle's elongation all can grasp the article and can not press from both sides the article badly in the certain limit, facilitates the use, does not set up the easy problem of pressing from both sides the article badly of elastic component in solving traditional industrial robot anchor clamps.
Drawings
Fig. 1 is a schematic diagram showing the overall structure of a composite clamp of an industrial robot according to an embodiment of the invention;
FIG. 2 is a schematic view of the structure at A in FIG. 1;
fig. 3 is a schematic cross-sectional structure diagram of an industrial robot composite clamp according to an embodiment of the invention;
FIG. 4 is a schematic view of the structure at B in FIG. 3;
fig. 5 is a schematic diagram of the overall structure of a composite clamp of an industrial robot according to an embodiment of the invention;
fig. 6 is a schematic structural diagram three of an industrial robot composite clamp according to an embodiment of the present invention.
In the figure: 1. a stud; 2. a chassis; 3. a triangular prism; 4. a bent piece; 5. an elastic member; 501. a slide bar; 502. a wafer; 503. a rubber sleeve; 504. a spring; 505. a nut; 6. a sliding device; 601. a slide rail; 602. a slider; 603. a connecting rod; 7. a first hinge device; 701. a first binaural; 702. a first hinge pin; 703. a first single ear; 8. an electric telescopic rod; 9. a second hinge means; 901. a second binaural; 902. a second hinge pin; 903. a second monaural; 10. a third hinge means; 1001. a third binaural; 1002. a third hinge pin; 1003. a third single ear; 11. an external thread; 12. rubber anti-skid lines; 13. and (4) a slide hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, in the embodiment of the present invention, an industrial robot composite clamp includes a chassis 2, a stud 1 is welded on the top of the chassis 2, a triangular prism 3 is welded in the middle of the bottom of the chassis 2, an electric telescopic rod 8 is connected to the bottom edge of the chassis 2 through a sliding device 6 and a first hinge device 7, a curved piece 4 is rotatably connected to the other end of the electric telescopic rod 8 through a second hinge device 9, a sliding hole 13 is formed in the surface of the curved piece 4, an elastic piece 5 is slidably mounted on the inner side wall of the sliding hole 13, a curved piece 4 is hinged to one side of the lower portion of the triangular prism 3 through a third hinge device 10, the industrial robot composite clamp adopts three curved pieces 4 to clamp three points, the clamp is stable, and can clamp objects of various shapes or sizes, the application range is wide, the elastic piece 5 is mounted below the curved piece 4 of the industrial robot composite clamp, can be elastically clamped to prevent the object from being damaged.
Wherein, slider 6 includes slide rail 601, slider 602 and connecting rod 603, slide rail 601 inside wall sliding connection has slider 602, the welding of slider 602 bottom has connecting rod 603, when shortening electric telescopic handle 8, slider 602 at 8 tops of electric telescopic handle slides to chassis 2 center department along the slide rail 601 inside wall, electric telescopic handle 8 upwards stimulates bent piece 4 through first articulated mounting 7 and second articulated mounting 9, when electric telescopic handle 8 extends, slider 602 at 8 tops of electric telescopic handle slides to the edge of chassis 2 along slide rail 601, electric telescopic handle 8 pushes up bent piece 4 downwards through first articulated mounting 7 and second articulated mounting 9, make three bent pieces 4 draw in, clip the article.
The first hinge device 7 includes a first double lug 701, a first hinge bolt 702 and a first single lug 703, the first single lug 703 is rotatably connected to an inner side wall of the first double lug 701 through the first hinge bolt 702, and the first double lug 701 is welded at the bottom of the connecting rod 603, so that when the electric telescopic rod 8 extends or shortens, the electric telescopic rod 8 can rotate along the bottom of the connecting rod 603 at the bottom of the sliding block 602.
The second hinge device 9 includes a second double lug 901, a second hinge bolt 902 and a second single lug 903, an inner side wall of the second double lug 901 is rotatably connected with the second single lug 903 through the second hinge bolt 902, the second double lug 901 is welded on an outer side wall of the curved piece 4, and the second single lug 903 is welded on the other end of the electric telescopic rod 8, so that the curved piece 4 can rotate along the bottom of the electric telescopic rod 8 when the electric telescopic rod 8 extends or shortens.
The third hinge device 10 includes a third double lug 1001, a third hinge bolt 1002 and a third single lug 1003, wherein the inner side wall of the third double lug 1001 is rotatably connected with the third single lug 1003 through the third hinge bolt 1002, so that the curved piece 4 can rotate along the outer side wall of the triangular prism 3, and the curved piece is opened to prepare clamping or closing to clamp the object.
The elastic piece 5 comprises a sliding rod 501, a circular piece 502, a rubber sleeve 503, a spring 504 and a nut 505, the circular piece 502 is welded at one end of the sliding rod 501, the spring 504 is sleeved on the outer side wall of the sliding rod 501, when the object is clamped, the object pushes the circular piece 502 outwards, the sliding rod 501 slides outwards along the inner side wall of the sliding hole 13 of the curved piece 4, the spring 504 is compressed and shortened at the moment, the spring 504 generates resilience resetting force when being shortened, the circular piece 502 is pushed towards the object, and the three elastic pieces 5 generate elastic force for clamping the object from three directions.
Wherein, the disk 502 lateral wall has cup jointed rubber sleeve 503, rubber antiskid line 12 has been seted up on rubber sleeve 503 surface, and anti-skidding is effectual, further prevents the article landing, and rubber matter is soft flexible simultaneously, and the pressurized ability kick-backs rapidly under normal atmospheric temperature, further prevents that the article from being pressed from both sides badly, damages when needing to be changed when rubber sleeve 503, because rubber elasticity is good, can take off old directness, installs new.
The other end of the sliding rod 501 is provided with an external thread 11, the external thread 11 is connected with a nut 505 in a threaded manner, when the spring 504 of the elastic element 5 is damaged and needs to be replaced, the nut 505 is screwed off by a wrench, the sliding rod 501 and the wafer 502 of the elastic element 5 are integrally taken out of the sliding hole 13, the damaged spring 504 is taken down, a new spring 504 is installed, the sliding rod 501 and the wafer 502 of the elastic element 5 are integrally slid into the sliding hole 13, and the nut 505 is installed.
The working principle of the invention is as follows: the industrial robot composite clamp adopts three-point clamping of three curved pieces 4, the clamping is stable, objects with various shapes or sizes can be clamped, the application range is wide, when the objects need to be clamped, firstly, an electric telescopic rod 8 is shortened, a sliding block 602 at the top of the electric telescopic rod 8 slides to the center of a chassis 2 along the inner side wall of a sliding rail 601, the electric telescopic rod 8 pulls the curved pieces 4 upwards through a first hinging device 7 and a second hinging device 9, so that the three curved pieces 4 at the bottom of the electric telescopic rod 8 are all opened along a triangular prism 3 through a third hinging device 10, at the moment, the whole clamp is placed right above the clamped objects, the electric telescopic rod 8 is controlled to be extended to the longest state, the sliding block 602 at the top of the electric telescopic rod 8 slides to the edge of the chassis 2 along the sliding rail 601, the electric telescopic rod 8 pushes the curved pieces 4 downwards through the first hinging device 7 and the second hinging device 9, the three curved pieces 4 are folded to clamp the object, three-point clamping and clamping are stable and are not easy to fall off, the elastic piece 5 is arranged below the curved pieces 4 of the industrial robot composite clamp, elastic clamping can be realized, the object is prevented from being damaged by clamping, when the object is clamped, the object pushes the circular piece 502 outwards, the sliding rod 501 slides outwards along the inner side wall of the sliding hole 13 of the curved piece 4, the spring 504 is compressed and shortened, the spring 504 generates resilience resetting force when being shortened, the circular piece 502 is pushed towards the object, the three elastic pieces 5 generate elastic force for clamping the object from three directions, as the outer side wall of the circular piece 502 is sleeved with the rubber sleeve 503, the outer side wall of the rubber sleeve 503 is provided with the rubber anti-skidding threads 12, the anti-skidding effect is good, the object is further prevented from sliding, meanwhile, the rubber is soft and elastic, the object can be rapidly rebounded under normal temperature pressure, the object is further prevented from being damaged by clamping, the existence of the elastic piece 5 enables the extension amount of the electric telescopic rod 8 to clamp the object within a certain range and cannot be damaged by clamping, convenient to use (the electric telescopic rod 8 is the existing product).
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. An industrial robot composite clamp, includes chassis (2), its characterized in that: the welding of chassis (2) top has double-screw bolt (1), the welding has triangular prism (3) in the middle of chassis (2) bottom, chassis (2) bottom edge is connected with electric telescopic handle (8) through slider (6) and first articulated device (7), electric telescopic handle (8) other end rotates through second articulated device (9) and is connected with bent piece (4), slide opening (13) have been seted up on bent piece (4) surface, slide opening (13) inside wall slidable mounting has elastic component (5), triangular prism (3) lower part one side articulates through third articulated device (10) has bent piece (4).
2. An industrial robot compound gripper according to claim 1, characterized in that: the sliding device (6) comprises a sliding rail (601), a sliding block (602) and a connecting rod (603), the sliding block (602) is connected to the inner side wall of the sliding rail (601) in a sliding mode, and the connecting rod (603) is welded to the bottom of the sliding block (602).
3. An industrial robot compound gripper according to claim 1, characterized in that: the first hinge device (7) comprises a first double lug (701), a first hinge bolt (702) and a first single lug (703), the inner side wall of the first double lug (701) is rotatably connected with the first single lug (703) through the first hinge bolt (702), and the first double lug (701) is welded at the bottom of the connecting rod (603).
4. An industrial robot compound gripper according to claim 1, characterized in that: the second hinge device (9) comprises a second double lug (901), a second hinge bolt (902) and a second single lug (903), the inner side wall of the second double lug (901) is rotatably connected with the second single lug (903) through the second hinge bolt (902), the second double lug (901) is welded on the outer side wall of the curved plate (4), and the second single lug (903) is welded at the other end of the electric telescopic rod (8).
5. An industrial robot compound gripper according to claim 1, characterized in that: the third hinge device (10) comprises a third double lug (1001), a third hinge bolt (1002) and a third single lug (1003), and the inner side wall of the third double lug (1001) is rotatably connected with the third single lug (1003) through the third hinge bolt (1002).
6. An industrial robot compound gripper according to claim 1, characterized in that: elastic component (5) include slide bar (501), disk (502), rubber sleeve (503), spring (504) and nut (505), slide bar (501) one end welding has disk (502), slide bar (501) lateral wall cup joints spring (504).
7. An industrial robot compound clamp according to claim 6, characterized in that: the outer side wall of the wafer (502) is sleeved with a rubber sleeve (503), and the surface of the rubber sleeve (503) is provided with rubber anti-slip lines (12).
8. An industrial robot compound clamp according to claim 6, characterized in that: the other end of the sliding rod (501) is provided with an external thread (11) and is in threaded connection with a nut (505) through the external thread (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111182216.0A CN113799166B (en) | 2021-10-11 | 2021-10-11 | Industrial robot composite clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111182216.0A CN113799166B (en) | 2021-10-11 | 2021-10-11 | Industrial robot composite clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113799166A true CN113799166A (en) | 2021-12-17 |
| CN113799166B CN113799166B (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111182216.0A Active CN113799166B (en) | 2021-10-11 | 2021-10-11 | Industrial robot composite clamp |
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| Country | Link |
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| CN (1) | CN113799166B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272521A (en) * | 2016-08-19 | 2017-01-04 | 唐贵凤 | A kind of clamping head of mechanical hand |
| CN110625603A (en) * | 2019-09-17 | 2019-12-31 | 厦门大学 | Rotary industrial robot equipment |
| CN211030050U (en) * | 2019-10-29 | 2020-07-17 | 江苏托玛斯机器人科技有限公司 | Pneumatic control workpiece grabbing robot |
| CN212497765U (en) * | 2020-04-14 | 2021-02-09 | 上海铭模机械设备有限公司 | Manipulator of convenient regulation |
| US20210229295A1 (en) * | 2020-01-29 | 2021-07-29 | Mario Campagna | Conformal gripping end effector |
-
2021
- 2021-10-11 CN CN202111182216.0A patent/CN113799166B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272521A (en) * | 2016-08-19 | 2017-01-04 | 唐贵凤 | A kind of clamping head of mechanical hand |
| CN110625603A (en) * | 2019-09-17 | 2019-12-31 | 厦门大学 | Rotary industrial robot equipment |
| CN211030050U (en) * | 2019-10-29 | 2020-07-17 | 江苏托玛斯机器人科技有限公司 | Pneumatic control workpiece grabbing robot |
| US20210229295A1 (en) * | 2020-01-29 | 2021-07-29 | Mario Campagna | Conformal gripping end effector |
| CN212497765U (en) * | 2020-04-14 | 2021-02-09 | 上海铭模机械设备有限公司 | Manipulator of convenient regulation |
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| Publication number | Publication date |
|---|---|
| CN113799166B (en) | 2023-03-14 |
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